They don't stop and start at the same time due to the way the retransmissions work. The driver will retransmit a command several times to ensure that it has arrived (there is no way to verify). This delay is what you are seeing.

In the next release I intend to make this retransmission part a configurable option. However, it is completely according to the Power Function specifications. If you want, you can hack the transmitIR(tSensors link, tByteArray &oBuffer, int channel) function yourself and remove the 3rd, 4th and 5th retransmission commands.

As a work-around, you could use a PFcomboPwmMode() command for both motors at once and then issue the PFMotor commands to ensure the motors continue to run afterwards. You can use PFcomboPwmMode() to stop both motors at the same time as well.

Yes, it's reetransmiting the same code many times.I would create another variable, the lastSpeed, and "if the lastSpeed != speed" send the code, and then set the speed to lastSpeed, so, if the speed == lastSpeed, i wouldn't send any command...

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